Programming Robot Animation Through Human Body Movement

The aim of our work is to make it easier for non-programmers to program robot motion. We designed a system that translates human motion to motion of a (virtual and physical) humanoid Pepper robot. The system enables programming robot animations using pose-matching imitation of human motion. We developed a prototype that implements recording functionality, evaluated the prototype, and revised the system architecture based on feedback from participants with expertise in dance or programming the Pepper robot. We extend a conceptual design space for computer animation by including a physical robot. On the basis of this design space and the prototype development, we describe interaction design considerations for robot animation systems that implement human-humanoid imitation systems.